Sharif Digital Repository

Direct Torque Control (DTC) is one of the vector methods to control Permanent Magnet Synchronous Machines (PMSM). In order to achieve an appropriate control in vector control methods, an accurate estimation of flux is indispensable. Flux estimation should be fulfilled in a wide speed range without considerable dependence on motor parameters. Prevalent flux estimation methods are based on integration of stator voltage which is not feasible in low speed, or performed based on assumption of decoupled equations on d and q axis which is not precise for applications with fast dynamic. Different flux estimation methods are investigated in this thesis with the aim of improving the flux estimation in... 

Common induction motors are controlled with the stator voltage and so all the power passes throw the converter. In the Brushless Doubly-fed Induction Motor (BDFM) a converter with smaller size and lower cost can be used. Also its brushless operation and cage rotor are advantages in comparison with doubly-fed induction motors with rotor excitation. Direct Torque Control is a method to control induction motors. Its advantages include fast responses to flux and torque commands, not requiring to know machine parameters except winding resistors, and easy implementation. In this thesis application of this method to control the BDFM is studied. At the first, electromagnetic mechanism and coupling... 

In this thesis, a decentralized controller for trajectory tracking of robot manipulators is developed. Proposed control scheme use uncalibrated joint torque sensors. Recently, it has been shown that the use of joint torque sensing results in a simplified manipulator model and reduce the need of dynamic model of links for controlling. In this thesis, we use the special lower triangular structure of this simplified model for decentralized control of manipulator. For the first time a smooth decentralized law is designed which makes both position and velocity tracking errors of robot manipulators globally converge to zero. Against most of previous work in decentralized control of manipulators,... 

Non-deterministic finite automata (NFA) are an elementary type of Turing machines with very high processing power. NFA processors provide parallelism at the data and task level because they can be in several different output states in one clock cycle. Implementing such machines with memory is a good strategy because if we consider each of the memory columns as a state, by selecting a row of the memory, we can activate several states at the same time, which is an implementation of NFA. NFA-based automata processors were first introduced by Micron and were very powerful for issues such as pattern matching, DNA sequencing, or regular expressions and, in general, for machine learning topics.... 

The Brushless Doubly-Fed Machine (BDFM) is a machine which incorporates the robustness of the squirrel cage induction machine and the speed and power factor control of a synchronous machine. All of these advantages are obtainable from a relatively low rating power electronic converter (e.g. 30% of the machine’s rating). The stator of a BDFM is furnished with two balanced three phase windings of conventional design (power and control winding). These windings differ in pole number and are often excited at different frequencies. Hence, there is no direct magnetic coupling between them. The power winding is connected to a constant-voltage, constant-frequency source and the control winding is... 

A motion tracking control design of an n-DOF rigid robot by taking into account its actuator dynamics is proposed in this paper using backstepping technique. neglecting actuator dynamics in control of rigid robot manipulators can degrade the performance and loss of stability. However,consideration of actuator dynamics entails joint torque or armature currents measurement. In this study, torque measurement has been avoided using an torque estimator.. Finally, Semi-global convergence for motion tracking error are proven. In addition, A simulation example of a two-link robotic manipulator is also given to clarify the effectiveness of proposed design method. Considering actuator dynamics entails... 

Reduction of power converters’ cost is one of the most important efforts to improve machines control systems. In this way, some new topologies for power electronic converters have been proposed. Among various topologies, four switch three phase inverter (FSTPI) thanks to the simple circuit, low cost, minimized conduction and switching losses and high reliability has attracted much attention recently. In this thesis, direct torque control (DTC) method is utilized to control of four switch inverter fed induction motor. In this way, in order to decrease flux and torque ripple and achieving constant switching frequency, a new Discrete Space Vector Modulation (DSVM) method have been proposed in... 

Spin-Transfer Torque Magnetic RAM (STT-MRAM) is known as the most promising replacement for SRAM technology in cache memories. Despite its high-density, non-volatility, near-zero leakage power, and immunity to radiation-induced particle strikes as the major advantages, STT-MRAM-based cache memory suffers from high error rates mainly due to retention failure, read disturbance, and write failure. Despite its high-density, non-volatility, near-zero leakage power, and immunity to radiation as the major advantages, STT-MRAM suffers from high error rates. These errors, which are mainly retention failure, read disturbance, and write failure, are the major reliability challenge in STT-MRAM caches.... 

Micro-robotics is one of the currently emerging technologies which has attracted attentions for its probable applications in different fields including biotechnology, diagnosis and treatment in medical engineering as well as general studies in micro-scale science and engineering. Magnetic micro-robotics is considered as the most promising group, primarily due to the biocompatibility of magnetic fields and advances in electronic circuits to produce and control such fields. One critical point in utilizing these robots is their high density in comparison with the working fluid and their tendency to sink. In this thesis, a method to fabricate buoyant magnetic robots has been proposed based on... 

converters, the different configurations for matrix converters are proposed. In this thesis, a one-phase to three-phase matrix converter is used to control in three-phase induction motor. Different control methods are proposed to control the induction motor. The novel control methods include close loop speed and converter output current controls of induction motor are proposed based on SPWM. The structure of indirect matrix converter for the mentioned application also investigated. Moreover, three usual method of control of induction motor: DTC (Direct Torque Control), FOC (Field Oriented Control) and Space Vector Modulation are applied to the single to three- phase matrix converter. Each of... 

Conventional induction motors are controlled by stator voltage, so the inverter should pass the full power of the motor. In the doubly-fed rotor wound induction motors, the nominal power of inverter can be reduced. Therefore, these types of machines have been concerned in recent decades and they are able to use as alternative for high power conventional induction machines in the future. Direct torque control is one of the well known methods for controlling the induction motors. Fast torque response and independence of machine parameters (except winding resistance). In this thesis, different sterategies of direct torque control of doubly fed induction motors are presented. In the first... 

Permanent magnets play an essential role in the structure of the electric motor, but due to limited resources, many efforts have been made to meet the need for them. One of the most important types of non-permanent electric motors is reluctance motors. Despite their antiquity in design, torque ripples have led to the limited use of reluctance motors, but advances in science have made it possible to control these ripples.As a result of the major advantages such as low manufacturing costs, high efficiency, and uncomplicated structure, these motors have been the subject of many researches. One way to eliminate the problem of torque ripples is to increase the number of teeth, but in the common... 

The goal of this thesis is modeling and simulation of aircraft landing motion in order to evaluate the performance of an optimal anti-skid brake system (ABS) for the main landing gears with friction effects. In this process, the aircraft 6DOF perturbed equations of motion augmented with pertinent friction and brake forces and moments have been utilized. Subsequently, the problem is formulated within the framework of an optimal LQR that has allowed for generation of control brake commands as well as aircraft landing performance at different landing conditions with and without the proposed ABS. The results demonstrate the proposed ABS has been effective in providing admissible landing... 

Spin-Transfer Torque Magnetic RAM (STT-MRAM) is the most promising nonvolatile memory to replace SRAM technology in the Last-Level Cache (LLC) due to its benefits such as high density, near-zero cell leakage, and immunity to soft errors.However, due to its high retention failure and read disturbance rates in the downscaled technologies and the low data access rate in the LLC and the high number of read accesses, retention failure and read disturbance have become the main reliability challenges for STT-MRAM cache memory. The existing approaches to overcome these challenges impose significant area and performance overhead or adversely affect the other types of failures. In this thesis, we... 

Torque variations caused by intermittent combustion and inertia effects of reciprocating components, exert significant torsional excitation on crankshaft of internal combustion engines. These excitation induces considerable torsional vibration on crankshafts. Therefore, modeling and analysis of crankshaft torsional vibration and absorber systems, especially in automobiles engine that crankshaft tolerate high amplitude excitations coupled with heavy inertia effects has high importance. In this study, ability of centrifugal pendulum vibration absorber and dual mass flywheel which used in rotating machinery for vibration reduction, will be examined. At first, cranktrain will be torsionaly... 

In this thesis, kinematic, dynamic modeling and simulation, and control of SQ15-06N industrial robot have been presented. This robot is mostly used in the painting industry. Studying the robot requires familiarity with the robot programming and the hardware used in the robot. In this research, robot characteristics such as repeatability, load carrying capacity and accessibility have been investigated. The principles of industrial robot programming and robot programming language have been studied. The use of simulation software is common due to cost savings, reduced time, no need for robots and controllers, and the ability to test programs in a virtual environment. For this purpose, the... 

Reliability, performance, and energy consumption are among the most important constraints that should be satisfied in modern processors design. More than 60% of the chip area is occupied by on-chip SRAM memories and they not only contribute in a large fraction of energy consumption, but also are the most error-prone components. Radiation-induced soft errors in on-chip memories are a major concern in modern processors design. Although Single Event Upsets (SEUs) have been known to be the main concern regarding SRAM memory reliability over the past decades, with the continued downscaling of technology, the occurrence rate of Multiple-Bit Upsets (MBUs) is comparable to that of SEUs in today’s... 

This thesis contributes two separate predictive direct torque control methods; based on hysteresis and fuzzy logic for Brushless Doubly Fed Induction Machine (BDFM). Initially Chapter 1, focuses on BDFM history and concept of this machine and after that a short review about the development of BDFM and the Field Oriented Control will be studied. Chapter 2 introduces the d-q-0 state transformation matrix, dynamic equation of BDFM and represents its steady-state equivalent. Furthermore, in this chapter the bond graph model of BDFM is studied and via distinguishing all energy ports the bond graph model of this motor is introduced and validated, finally the result of this model is compared with... 

The human body has more than 600 muscles that cause movement. Disability and motor disorders are some of the problems that people may face due to some factors such as accident, spinal cord injuries, disorders and brain damage, and the presence of a problem in neurological commands due to stroke. One of the proposed methods for solving the problems of people with motor disorder is the use of exoskeletons to generate stimulus. Exoskeletones are electromechanical devices designed to assist human movement, and patients are used to correct their movements using specific motor patterns. Exoskeletones can also be used as an auxiliary device for carrying heavy loads. Many studies have been conducted... 

The Brushless Doubly Fed Induction Machine (BDFIM) has the potential to be used as a generator or motor in adjustable speed variables. But the most important application for the BDFM is to work as a wind generator. Due to this ability it can be considered as a rival for the Doubly Fed Induction Generator (DFIG) that is the most common type of the wind power generators nowadays. Because of problems of relater to brushes in DFIG, the BDFM has more resisted structure compared to the DFIG. Thanks to the special “nested loop” structure of rotor and two different coils on the stator without direct coupling between them, three different operation modes are possible for the BDFM.The synchronous...